Apparatus and method for operating a gliding parachute/kite

ABSTRACT

Disclosed is an apparatus and method for operating a gliding parachute/kite. The gliding parachute/kite has a wing with a flexible material, and a set of suspension lines adapted for coupling a load to the wing, such that the coupling is configurable in any one of a plurality of possible states based on relative lengths of the suspension lines. In some implementations, the possible states include a first state enabling gliding in a first direction, and a second state enabling gliding in a second direction that is opposite to the first direction. Reversing direction is possible with the first and second states. Additionally, or alternatively, the possible states include a spinning state enabling spinning of the gliding parachute/kite. Adjusting a rate of decent is possible with the spinning. Reversing direction and/or spinning operations can be used to improve control of trajectory.

RELATED APPLICATION

This patent application claims priority to U.S. provisional patentapplication No. 63/198,941 filed Nov. 24, 2020, the entire content ofwhich is incorporated by reference herein.

FIELD OF THE DISCLOSURE

This disclosure relates to parachutes/kites, and more particularly togliding parachutes/kites.

BACKGROUND OF THE DISCLOSURE

A parachute is an apparatus having a surface used to slow a motion of aload (e.g. object being transported) through air by creating drag and/orlift to slow down the load and/or counteract gravitational force actingon the load. A kite is an apparatus having a surface that similarlyreacts with air to create drag and/or lift, but its load includes atether coupled to an object that is often on land and/or water.

A parachute can be used for transporting an object to a target locationon a landing surface (e.g. ground or boat). Unfortunately, depending onconditions, the parachute can overshoot the target location. Also, thereare other uses for parachutes where problems can emerge such as whengliding parachutes are constrained by airspace limitations or physicalobstacles, such that turning to control trajectory or ground speed attouch down, may not be possible. Existing approaches for controllingtrajectory of parachutes leave much to be desired.

Also, existing approaches for controlling trajectory of kites canconsume a significant amount of space, often resulting in crashes when akite cannot complete its maneuver without impacting a surface of theland and/or water.

There exists a need for an improved parachute/kite that can glide and beoperated with improved control of trajectory.

SUMMARY OF THE DISCLOSURE

Disclosed is a gliding parachute/kite having a wing with a flexiblematerial. The wing has a first transverse edge and a second transverseedge. The gliding parachute/kite also has a set of suspension linesadapted for coupling a load to the wing, such that the coupling isconfigurable in any one of a plurality of possible states based onrelative lengths of the suspension lines. The possible states include afirst state in which the wing is deformed during flight with moredeformation towards the first transverse edge compared to the secondtransverse edge, thereby causing the first transverse edge to be aleading edge and the second transverse edge to be a trailing edgerelative to a free stream.

In accordance with an embodiment of the disclosure, the possible statesalso include a second state in which the wing is deformed during flightwith more deformation towards the second transverse edge compared to thefirst transverse edge, thereby causing the second transverse edge to bethe leading edge and the first transverse edge to be the trailing edgerelative to the free stream. In this way, the gliding parachute/kite iscapable of reversing direction without having to turn around. Reversingdirection can be used to improve control of trajectory.

In some implementations, the gliding parachute/kite is a glidingparachute configured to transport an object as part of the load. Inother implementations, the gliding parachute/kite is a gliding kiteconfigured to be tethered to an object as part of the load.

Also disclosed is a method of operating the gliding parachute/kite. Themethod involves gliding in a first direction, and reversing directionthereby gliding in a second direction opposite to the first directionwithout turning around the gliding parachute/kite. As noted above,reversing direction can be used to improve control of trajectory. Forexample, in the case of the gliding parachute/kite being a glidingparachute and the load is an object to be delivered to a target area,reversing direction can be used to land in the target area withouthaving to turn around.

Also disclosed is a gliding parachute/kite having a wing with a flexiblematerial. The wing has four corners including a first pair of diagonallyopposing corners and a second pair of diagonally opposing corners. Thegliding parachute/kite also has a set of suspension lines adapted forcoupling a load to the wing, such that the coupling is configurable inany one of a plurality of possible states based on relative lengths ofthe suspension lines.

In accordance with an embodiment of the disclosure, the possible statesinclude a first state in which the wing is deformed during flight withmore deformation towards the first pair of diagonally opposing cornersof the wing compared to the second pair of diagonally opposing cornersof the wing, thereby causing the gliding parachute/kite to spin aroundan axis that is substantially orthogonal to the wing. This spinning canbe used to improve control of trajectory.

In some implementations, the gliding parachute/kite is a glidingparachute configured to transport an object as part of the load. Inother implementations, the gliding parachute/kite is a gliding kiteconfigured to be tethered to an object as part of the load.

Also disclosed is a method of operating the gliding parachute/kite. Themethod involves gliding along a trajectory, and spinning around an axisthat is substantially orthogonal to the wing thereby stopping thegliding and changing the trajectory. As noted above, this spinning canbe used to improve control of the trajectory. For example, in the caseof the gliding parachute/kite being a gliding parachute and the load isan object to be delivered to a target area, the spinning can be used toland in the target area without overshooting the target area. Inaddition to using spinning to avoid overshooting the target area,trajectory control can include resuming gliding, after halting spinning,for example in a purposefully specific direction.

Other aspects and features of the present disclosure will becomeapparent, to those ordinarily skilled in the art, upon review of thefollowing description of the various embodiments of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will now be described with reference to the attacheddrawings in which:

FIG. 1 is a perspective view of an example gliding parachute/kite, inaccordance with an embodiment of the disclosure;

FIG. 2 is a side view of the gliding parachute/kite of FIG. 1;

FIG. 3 is a side view of the gliding parachute/kite with more wingdeformation towards a second transverse edge compared to a firsttransverse edge;

FIG. 4 is a side view of the gliding parachute/kite with more wingdeformation towards the first transverse edge compared to the secondtransverse edge;

FIG. 5 is a side view of the gliding parachute/kite with wingdeformation towards both the first and second transverse edges;

FIG. 6 is a side view of the gliding parachute/kite with more wingdeformation towards the first transverse edge compared to the secondtransverse edge;

FIG. 7 is a side view of the gliding parachute/kite with more wingdeformation towards the second transverse edge compared to the firsttransverse edge;

FIG. 8 is a side view of another gliding parachute/kite having a convexshape with more wing deformation towards a first transverse edgecompared to a second transverse edge;

FIG. 9 is a flowchart of a method of landing on a landing surface in atarget area;

FIG. 10A is a perspective view of example trajectories of the glidingparachute/kite, and FIG. 10B is a top view of those trajectories;

FIG. 11 is a perspective view of another example gliding parachute/kite,in accordance with an embodiment of the disclosure;

FIG. 12 is a perspective view of the gliding parachute/kite of FIG. 11with more wing deformation towards a first pair of diagonally opposingcorners compared to a second pair of diagonally opposing corners;

FIG. 13 is a flowchart of another method of landing on a landing surfacein a target area;

FIG. 14 is a block diagram of a controller for use with a glidingparachute/kite, in accordance with an embodiment of the disclosure;

FIGS. 15A to 15C are schematics of an example actuator system of thecontroller; and

FIGS. 16A to 16C are schematics of another example actuator system ofthe controller.

DETAILED DESCRIPTION OF EMBODIMENTS

It should be understood at the outset that although illustrativeimplementations of one or more embodiments of the present disclosure areprovided below, the disclosed systems and/or methods may be implementedusing any number of techniques, whether currently known or in existence.The disclosure should in no way be limited to the illustrativeimplementations, drawings, and techniques illustrated below, includingthe exemplary designs and implementations illustrated and describedherein, but may be modified within the scope of the appended claimsalong with their full scope of equivalents.

Gliding Parachute/Kite

Referring now to FIG. 1, shown is a perspective view of an examplegliding parachute/kite 100, in accordance with an embodiment of thedisclosure. Also referring to FIG. 2, shown is a side view of thegliding parachute/kite 100. The gliding parachute/kite 100 includes awing 110 made of flexible material that is generally thin, such that thewing 110 has a thickness corresponding to a thickness of the flexiblematerial. The wing 110 has a first transverse edge 112 and a secondtransverse edge 114. The gliding parachute/kite 100 also has a set ofsuspension lines 120 adapted for coupling a load 180 to the wing 110,such that the coupling is configurable in any one of a plurality ofpossible states based on relative lengths of the suspension lines 120.

In the illustrated example, the gliding parachute/kite 100 is a glidingparachute configured to transport an object as part of the load 180. Aload path 185 connects the suspension lines 120 to the load 180. Inother implementations, the gliding parachute/kite 100 is a gliding kiteconfigured to be tethered to an object as part of the load 180 (notshown). Although the illustrated example and other illustrated examplesprovided herein generally focus on gliding parachutes, it is to beunderstood that embodiments of the disclosure are applicable to glidingkites as well, given that gliding parachutes and gliding kites aresimilar.

In the illustrated example, only three groups of suspension lines 120are shown for clarity, including one in the middle and one on each outerside of the wing 110, but typically there can be five or more groups.Different numbers of groups of suspension lines 120 can be employed fordifferent implementations. In the illustrated example, specific sets ofsuspension lines 120 are identified as line sets 120A and 120B, whichare “controlled line sets”, as they will have their lengths shortened orlengthened via control lines 140. In the illustrated example, the linesets 120A and 120B include all of the suspension lines 120 along thefirst transverse edge 112 and the second transverse edge 114, howevervariations are possible that do not include all the suspension lines 120in the center of the wing 110 as part of the controlled line sets. Insome implementations, line lengths for the controlled line sets 120A and120B are modulated by a controller 130 using various methods includingpulleys, levers and screw actuators, for example.

Referring now to FIG. 3, shown is a side view of the glidingparachute/kite 100 with more wing deformation 118 towards the secondtransverse edge 114 compared to the first transverse edge 112. In theillustrated example, a wing profile in side view is deformed from anominal shape 116 resulting in generation of a net lift (i.e. a netaerodynamic force normal to the free stream 190). This is achieved bychanging a shape on what will become a leading edge of the wing 110.This example shows a case where the shape is changed by shortening thesuspension line set 120B. Shortening suspension line set 120B comparedto line set 120A causes the gliding parachute/kite 100 to glide suchthat the second transverse edge 114 (i.e. edge of the glidingparachute/kite 100 with line set 1206) becomes the leading edge of thewing 110 when gliding.

Referring now to FIG. 4, shown is a side view of the glidingparachute/kite 100 with more wing deformation 118 towards the firsttransverse edge 112 compared to the second transverse edge 114.Shortening suspension line set 120A compared to line set 120B causes thegliding parachute/kite 100 to glide such that the first transverse edge112 (i.e. edge of the gliding parachute/kite 100 with line set 120A)becomes the leading edge of the wing 110 when gliding. This is theopposite of what is shown in FIG. 3.

FIGS. 3 and 4 illustrate two possible states for the glidingparachute/kite 100: (i) a first state in which the wing 110 is deformedduring flight with more deformation towards the first transverse edge112 compared to the second transverse edge 114, thereby causing thefirst transverse edge 112 to be a leading edge and the second transverseedge 114 to be a trailing edge relative to a free stream 190, and (ii) asecond state in which the wing 110 is deformed during flight with moredeformation towards the second transverse edge 114 compared to the firsttransverse edge 112, thereby causing the second transverse edge 114 tobe the leading edge and the first transverse edge 112 to be the trailingedge relative to the free stream 190.

In some implementations, the controller 130 controls the coupling of theload 180 to the wing 110 and controls transitioning between the possiblestates by manipulating a length of at least some of the suspension lines120. In some implementations, for the first state, the controller 130(i) shortens a first subset (e.g. line set 120A) of the suspension lines120 that is connected to the wing 110 in a vicinity of the firsttransverse edge 112 and/or (ii) lengthens a second subset (e.g. line set120B) of the suspension lines 120 that is connected to the wing 110 in avicinity of the second transverse edge 114. In some implementations, forthe second state, the controller 130 (i) shortens a second subset (e.g.line set 120B) of the suspension lines 120 that is connected to the wing110 in a vicinity of the second transverse edge 114 and/or (ii)lengthens a first subset (e.g. line set 120A) of the suspension lines120 that is connected to the wing 110 in a vicinity of the firsttransverse edge 112. In some implementations, the controller 130manipulates lengths of the suspension lines 120 using the control lines140 as depicted.

By supporting both of these states, the gliding parachute/kite 100 iscapable of reversing direction without having to turn around. Reversingdirection can be used to improve control of trajectory. In someimplementations, the wing 110 is configured such that gliding ispossible in either longitudinal direction in substantially the same way.For example, in some implementations, the wing 110 is substantiallysymmetrical such that a first half of the wing 110 having the firsttransverse edge 112 substantially mirrors a second half of the wing 110having the second transverse edge 114. In some implementations, the wing110 has four corners.

In some implementations, the wing 110 is configured to provide more liftthan drag. For example, in some implementations, the wing 110 has anaspect ratio of wingspan to mean chord that is greater than one. Thisenables the gliding parachute/kite 100 to be capable of “gliding”through air with substantial lift. This distinguishes from conventionalparachutes that do not glide with substantial lift because they are notconfigured to provide more lift than drag. Instead, conventionalparachutes generally fall through the air and do not glide in the sameway as in the gliding parachute/kite 100 described herein. Thus, as usedherein, the term “gliding parachute/kite” refers to a parachute/kitethat is configured to be able to glide through air with substantiallift.

Referring now to FIG. 5, shown is a side view of the glidingparachute/kite 100 with wing deformation 118 towards both the firsttransverse edge 112 and the second transverse edge 114. In theillustrated example, a wing profile in side view is deformed from anominal shape 116 during flight with a same amount of deformation 118towards the first transverse edge 112 compared to the second transverseedge 114. The control lines 140 are acting equally on both suspensionline sets 120A and 120B to create the deformation 118. Note that thecontrol lines 140 can pull down line sets 120A and 120B after openingand prior to commencing glide. The wing profile generates “no net lift”(i.e. no net aerodynamic force normal to the free stream 190), so itfalls vertically relative to air mass. One way of achieving this is toensure the wing 110 has a symmetric shape about the free stream axis.However, there are other ways of achieving “no net lift” conditionswithout the wing 110 needing to be symmetric about the free stream axis.In this “no net lift” configuration, the gliding parachute/kite 100 isconsidered stopped since it has no lift and therefore no forward glidein any direction.

The examples described above involve increasing the deformation 118towards the second transverse edge 114 (i.e. FIG. 3), the firsttransverse edge 112 (i.e. FIG. 4), and both the first transverse edge112 and the second transverse edge 114 (i.e. FIG. 5). However, it is tobe understood that other implementations are possible in which thedeformation 118 is instead decreased. This concept is described belowwith reference to FIGS. 6 and 7.

Referring now to FIG. 6, shown is a side view of the glidingparachute/kite 100 with more wing deformation towards the firsttransverse edge 112 compared to the second transverse edge 114. However,rather than increasing deformation towards the first transverse edge112, deformation 118 towards the second transverse edge 114 is decreasedfrom a nominal shape 116. In the illustrated example, a wing profile inside view is deformed resulting in generation of a net lift (i.e. a netaerodynamic force normal to the free stream 190). This can be achievedby changing a shape on what will become the trailing edge of the wing110. This example shows a case where the shape is changed by lengtheningthe suspension line set 120B. Lengthening suspension line set 1206compared to line set 120A causes the gliding parachute/kite 100 to glidesuch that the second transverse edge 114 (i.e. edge of the glidingparachute/kite 100 with line set 120B) becomes the trailing edge of thewing 110 when gliding.

Referring now to FIG. 7, shown is a side view of the glidingparachute/kite 100 with more wing deformation towards the secondtransverse edge 114 compared to the first transverse edge 112.Lengthening suspension line set 120A compared to line set 120B causesthe gliding parachute/kite 100 to glide such that the first transverseedge 112 (i.e. edge of the gliding parachute/kite 100 with line set120A) becomes the trailing edge of the wing 110 when gliding. This isthe opposite of what is shown in FIG. 6.

The examples described above involve the wing 110 having a concave shapesuch that the deformation is based on concavity. More deformation meansmore concavity, and conversely less deformation means less concavity.However, it is to be understood that other implementations are possiblein which other shapes are possible for the wing 110. Also, while theexamples described above involve positive concavity, otherimplementations are possible in which negative concavity (i.e.convexity) is involved. This concept is described below with referenceto FIG. 8.

Referring now to FIG. 8, shown is a side view of another glidingparachute/kite 800 with a wing 810 having a convex shape with more wingdeformation 118 towards a first transverse edge 812 compared to a secondtransverse edge 814. There is convexity (i.e. negative concavity)towards the first transverse edge 812 and the second transverse edge814. However, the convexity is decreased or even eliminated towards thefirst transverse edge 812 (i.e. concavity is increased towards the firsttransverse edge 812). This example shows a case where the shape ischanged by shortening the suspension line set 820A by a controller 830pulling on a control line 840. Shortening suspension line set 820Acompared to line set 820B causes the gliding parachute/kite 800 to glidesuch that the first transverse edge 812 (i.e. edge of the glidingparachute/kite 800 with line set 820A) becomes the leading edge of thewing 810 when gliding.

Method of Operation

Referring now to FIG. 9, shown is a flowchart of a method of landing ona landing surface (e.g. ground or boat) in a target area. This methodcan be executed by a gliding parachute, for example by the glidingparachute 100 of FIGS. 1 to 7 or by the gliding parachute 800 of FIG. 8.More generally, this method can be executed by any appropriatelyconfigured gliding parachute.

In some implementations, an initial operating state is selected prior todeployment of the gliding parachute. At step 9-1, the gliding parachuteglides in a first direction towards the target area on the landingsurface. In some implementations, the gliding parachute is carrying anobject (e.g. supplies, rations, etc.) to be delivered to the targetarea.

If it is determined at step 9-2 that the gliding parachute willovershoot past the target area if the gliding parachute were to glide inthe first direction towards the target area without any intervention,then at step 9-3 the gliding parachute reverses direction therebygliding in a second direction opposite to the first direction withoutturning around the gliding parachute. In some implementations, as shownat step 9-4, the gliding parachute reverses direction again therebygliding in the first direction without turning around the glidingparachute.

In some implementations, the gliding parachute executes both of thereversing of direction steps such that the overshoot past the targetarea is avoided. In some implementations, each reversing of directionstep is executed to adjust a rate of descent and/or a touch down time.Finally, at step 9-5 the gliding parachute lands on the landing surfacein the target area.

Referring now to FIG. 10A, shown is a perspective view of exampletrajectories of the gliding parachute. FIG. 10B shows a top view ofthose trajectories. Without any corrective action, the gliding parachutewould follow a straight trajectory 300 that overshoots past a targetarea 310 and lands in an incorrect spot 320. One approach is for thegliding parachute to turn around completely (i.e. 360 degree turn) asshown by looped trajectory 381 with a view to land in the target area310. However, this results in deviating from a permitted overflight area330 as shown by looped projection 382 of the looped trajectory 381 ontoearth for flight path. An improved approach incorporates correctiveaction, including a first reversal 351 and a second reversal 352 assimilarly described above with reference to FIG. 9, with a view to landin the target area 310. In this way, it is possible for the glidingparachute to land in the target area 310 without any deviation from thepermitted overflight area 330 as shown by reversal projection 353 of thetrajectory onto earth for flight path.

Although the corrective action has been described to include multiplereversals (i.e. the first reversal 351 and the second reversal 352), itis noted that it is possible in some cases to have a single reversalwhile still minimizing or avoiding an overshoot from the target area 310and while minimizing or avoiding any deviation from the permittedoverflight area 330. In other cases, more than two reversals can beperformed as desired. Much depends on a size of the target area 310, asize of the permitted overflight area 330, and wind.

Also, although the corrective action has been described in relation to agliding parachute landing in a target area, it is noted that otherscenarios are possible which can include a gliding kite reversingdirection for some other purpose. More generally, there is provided amethod that involves a gliding parachute/kite gliding in a firstdirection and reversing direction thereby gliding in a second directionopposite to the first direction without turning around the glidingparachute/kite. This can be done for example to adjust a rate of descentand/or a touch down time, regardless of whether it is an object to landin a target area.

Another Gliding Parachute/Kite

Referring now to FIG. 11, shown is a perspective view of another examplegliding parachute/kite 200, in accordance with an embodiment of thedisclosure. The gliding parachute/kite 200 includes a wing 210 made offlexible material that is generally thin, such that the wing 210 has athickness corresponding to a thickness of the flexible material. Thewing 210 has four corners including a first pair of diagonally opposingcorners and a second pair of diagonally opposing corners. The glidingparachute/kite also has a set of suspension lines 220 adapted forcoupling a load 280 to the wing 210, such that the coupling isconfigurable in any one of a plurality of possible states based onrelative lengths of the suspension lines 220.

In the illustrated example, the gliding parachute/kite 200 is a glidingparachute configured to transport an object as part of the load 280. Aload path 285 connects the suspension lines 220 to the load 280. Inother implementations, the gliding parachute/kite 200 is a gliding kiteconfigured to be tethered to an object as part of the load 280 (notshown). Although the illustrated example and other illustrated examplesprovided herein generally focus on gliding parachutes, it is to beunderstood that embodiments of the disclosure are applicable to glidingkites as well, given that gliding parachutes and gliding kites aresimilar.

In the illustrated example, only three groups of suspension lines 220are shown for clarity, including one in the middle and one on each outerside of the wing 210, but typically there can be five or more groups.Different numbers of groups of suspension lines can be employed fordifferent implementations. In the illustrated example, specific sets ofsuspension lines are identified as line sets 220A, 220B, 220C and 220D,which are “controlled line sets”, as they will have their lengthsshortened or lengthened via control lines 240. In the illustratedexample, each controlled line 240 is attached to a specific corner,however variations are possible where multiple lines in each corner areaare controlled as part of the identified line, as a set. In someimplementations, line lengths for the controlled line sets 220A to 220Dare modulated by a controller 230 using various methods includingpulleys, levers and screw actuators, for example.

Referring now to FIG. 12, shown is a perspective view of the glidingparachute/kite 200 of FIG. 11 with more wing deformation 218 towards afirst pair of diagonally opposing corners compared to a second pair ofdiagonally opposing corners. Spinning can be initiated either from agliding state, or while forward glide is stopped. Spinning is initiatedby deforming the wing in opposing corners from a nominal shape 216, byshortening lines from diagonally opposing corners (e.g. lines 220A and220D, or lines 220B and 220C). When lines 220A and 220D are shortened(compared to lines 220B and 220C), the wing 210 will spin 291 counterclockwise when viewed from the top, about an axis 292 that issubstantially orthogonal to the wing 210. This axis 292 normally passesthrough or close to the load 280. Conversely, when lines 220B and 220Care shortened (compared to lines A and D), the wing 210 will spinclockwise when viewed from the top. In some implementations, an amountof shortening is varied to modulate the spin rate. The spin rate ismodulated to slow or speed up a rate of fall.

FIG. 12 illustrates a possible state for the gliding parachute/kite 200:(i) a spinning state in which the wing 210 is deformed during flightwith more deformation towards the first pair of diagonally opposingcorners of the wing compared to the second pair of diagonally opposingcorners of the wing, thereby causing the gliding parachute/kite 200 tospin 291 around the axis 292 that is substantially orthogonal to thewing 210. This spinning state can be used to improve control oftrajectory.

In some implementations, the controller 230 controls the coupling of theload 280 to the wing 210 and controls transitioning between the possiblestates by manipulating a length of at least some of the suspension lines220. In some implementations, for the spinning state, the controller 230shortens a first subset (e.g. lines 220A and 220D) of the suspensionlines 220 that is connected to the wing 210 in a vicinity of eachopposing corner of the first pair of diagonally opposing corners and/or(ii) lengthens a second subset (e.g. lines 220B and 220C) of thesuspension lines 220 that is connected to the wing 210 in a vicinity ofeach opposing corner of the second pair of diagonally opposing corners.

By supporting this spinning state, the gliding parachute/kite 200 iscapable of slowing down or speeding up a rate of fall. Spinning can beused to improve control of trajectory. In some implementations, the wing210 is configured such that each half of the wing 210 can glide inopposing directions in substantially the same way. For example, in someimplementations, the wing 210 is substantially symmetrical such that thefirst pair of diagonally opposing corners is substantially equivalent tothe second pair of diagonally opposing corners.

In some implementations, there is provided a second state in which thewing 210 has substantially a same deformation towards the first pair ofdiagonally opposing corners of the wing 210 compared to the second pairof diagonally opposing corners of the wing 210, thereby avoiding thegliding parachute/kite 210 from spinning.

In some implementations, the wing 210 is configured to provide more liftthan drag. For example, in some implementations, the wing 210 has anaspect ratio of wingspan to mean chord that is greater than one. Thisenables the gliding parachute/kite 210 to be capable of “gliding”through air with substantial lift. This distinguishes from conventionalparachutes that do not glide with substantial lift because they are notconfigured to provide more lift than drag. Instead, conventionalparachutes generally fall through the air and do not glide in the sameway as in the gliding parachute/kite described herein. Thus, as usedherein, the term “gliding parachute/kite” refers to a parachute/kitethat is configured to be able to glide through air with substantiallift.

The examples described above involve a generally thin wing having aconcave shape such that the deformation is based on concavity. Moredeformation means more concavity, and conversely less deformation meansless concavity. However, it is to be understood that otherimplementations are possible in which other shapes are possible for thewing. Also, while the examples described above involve positiveconcavity, other implementations are possible in which negativeconcavity (i.e. convexity) is involved. This concept has been describedabove with reference to FIG. 8 and is not repeated here. In addition,these concepts apply to wings which may not be of uniform thickness orgenerally thin, and to shapes built up with multiple adjacent ornon-adjacent layers of materials.

Another Method of Operation

Referring now to FIG. 13, shown is a flowchart of another method oflanding on a landing surface (e.g. ground or boat) in a target area.This method can be executed by a gliding parachute, for example by thegliding parachute 200 of FIGS. 11 and 12. More generally, this methodcan be executed by any appropriately configured gliding parachute.

In some implementations, an initial operating state is selected prior todeployment of the gliding parachute. At step 13-1, the gliding parachuteglides in a first direction towards the target area on the landingsurface. In some implementations, the gliding parachute is carrying anobject (e.g. supplies, rations, etc.) to be delivered to the targetarea.

If it is determined at step 13-2 that the gliding parachute has atrajectory that will overshoot past the target area if the glidingparachute were to glide in the first direction towards the target areawithout any intervention, then at step 13-3 the gliding parachute spinsaround an axis that is substantially orthogonal to the wing therebystopping the gliding and steepening the trajectory.

In some implementations, the gliding parachute modulates the spinningsuch that the overshoot past the target area is avoided. In someimplementations, the gliding parachute selects between spinning in aclockwise direction or a counter-clockwise direction. Finally, at step13-4 the gliding parachute lands on the landing surface in the targetarea.

Although the corrective action has been described in relation to agliding parachute landing in a target area, it is noted that otherscenarios are possible which can include a gliding kite spinning forsome other purpose such as to reduce horizontal touch down velocity andrisk of tumbling a load when landing in little or no wind. In addition,the spinning can be performed for trajectory control such that glidingis resumed after halting the spinning. This can be implemented forexample to resume gliding in a purposefully specific direction. Moregenerally, there is provided a method that involves a glidingparachute/kite gliding along a trajectory, and spinning around an axisthat is substantially orthogonal to the wing thereby stopping thegliding and changing the trajectory, and returning to gliding, andrepeating these maneuvers.

Controller

The examples described above with reference to FIGS. 1 to 10 includereversing direction states, while the examples described above withreference to FIGS. 11 to 13 include spinning states. It is to beunderstood that embodiments of the disclosure include a glidingparachute/kite that supports all of these states. In addition, operationin a conventional fashion (e.g. changing trajectory and/or reversingdirection by turning) is also possible. Thus, there is disclosed agliding parachute/kite that can (i) reverse direction without turningaround, (ii) spin around an axis that is substantially orthogonal to thewing, and/or (iii) operate in a conventional fashion (e.g. changingtrajectory and/or reversing direction by turning), independently or incombination. As similarly described above, in some implementations, thecontroller controls the coupling of the load to the wing and controlstransitioning between all of the possible states by manipulating alength of at least some of the suspension lines. Example details of thecontroller are provided below with reference to FIGS. 14 to 16.

Referring now to FIG. 14, shown is a block diagram of a controller 600for use with a gliding parachute/kite, in accordance with an embodimentof the disclosure. The controller 600 has an actuator system 610, whichis configured to shorten and lengthen lines as commanded. In someimplementations, the controller 600 also has navigation and controlsensors 620 to produce sensor readings, and a computing device 630configured to command the actuator system 610 to follow a flight pathplan 650 and/or to land on a specified landing point based on the sensorreadings.

There are many possibilities for the navigation and control sensors 620.In some implementations, the sensor readings enable the computing device630 to determine position and velocity relative to the earth. In someimplementations, the sensor readings also enable the computing device630 to determine height above terrain, airspeed, and/or related angle(i.e. angle of attack, sideslip). The navigation and control sensors 620can include any suitable combination of sensors to produce the sensorreadings.

In some implementations, the actuator system 610 and the computingdevice 630 are coupled to an energy storage 640. The energy storage 640can be separate energy storages or one common energy storage for boththe actuator system 610 and the computing device 630. There are manypossibilities for the energy storage 640. In some implementations, theenergy storage 640 is an electrical energy storage such as a battery,although other electrical energy storages are possible such as acapacitor. In some implementations, the energy storage 640 can alsoabsorb energy (i.e. be charged) when energy is generated from lineactuation. Such implementations may utilize a generator (not shown) forcharging the energy storage 640.

There are many possibilities for the actuator system 610. The actuatorsystem 610 is a mechanical apparatus that can shorten and lengthen linesupon command, using stored energy of various forms including but notlimited to electrical (preferred), gravitational potential energy,hydraulic energy or pneumatic energy (or combinations of the above). Theactuator system 610 can include (but not limited to) variousconfigurations from simplest to most complex as follows:

-   -   i. Two lines which can be controlled independently (i.e. either        of the lines can be lengthened or shortened by various amounts,        independently from the other);    -   ii. Two lines which can be controlled independently (i.e. both        lengthened or both shortened or one shortened and one        lengthened, all by various amounts);    -   iii. Three lines, one of which can be controlled individually in        addition to either a line pair controlled together (as per item        i.) or two lines controlled individually (as per item ii.);    -   iv. Four lines, with two pairs of lines which can be controlled        as individual pairs, with each pair controlled together (two        pairs each as per item ii.);    -   v. Four lines, with one pair of lines which can be controlled        together (as per item i.) and two lines which can be controlled        individually from one another (as per item ii.) and the pair of        lines;    -   vi. Four lines which can be controlled independently (i.e. any        of the lines can be lengthened or shortened by various amounts,        independently from the others); and    -   vii. Can include other configurations as well, and can include        more than four lines.

The actuator system 610 can use various forms of mechanical devicesincluding but not limited to:

-   -   i. Electric motors (linear and rotary) with or without reduction        drives,    -   ii. Hydraulic or pneumatic motors with or without reduction        drives, and    -   iii. Hydraulic or pneumatic cylinders, pneumatic muscles (i.e.        linear actuators).

The actuator system 610 can use various means of converting rotary orlinear actuators into linear line pulls, or to slow down or speed upactuators, including but not limited to:

-   -   i. Pulleys, levers, ramps, bow strings, or combinations.

In some implementations, the controller 600 includes a lever configuredto pivot about a point and having two opposing ends including a firstend coupled to the first subset of the suspension lines and a second endcoupled to the second subset of the suspension lines, and an actuatorconfigured to move the lever. Example implementation details of a leverare provided below with reference to FIGS. 15A to 15C.

Referring now to FIGS. 15A to 15C, shown are schematics of an exampleactuator system of the controller 600. A lever and linear actuator canoperate to shorten line A and lengthen line B (FIG. 15A), provide equallengths for lines A and B (FIG. 15B), and lengthen line A and shorten B(FIG. 15C). In the illustrated example, one pair of lines A and B iscontrolled together using the lever and linear actuator, which may bepreferred for smaller systems. However, a four-line system offers a fullcapability to both change direction of glide, and to initiate andcontrol a spin, and may be used in conjunction with any number ofexisting methods and apparatus to steer the gliding parachute/kite oncegliding in a given direction.

In some implementations, the four-line system involves two×two linepairs controlled together. When two lines can be controlled together,then a common pulley or common lever arm works well. In the illustratedexample, shown is a lever design with a linear actuator that tilts thelever bar one way or another. Although only one pair of lines is shown,two of these can be used to have two independently controlled linepairs. The first two line pair is uses to deform the parachute tocontrol direction of glide and to stop forward glide. The second twoline pair is used to and modulate the spin.

In some implementations, the controller 600 includes a pulley having awheel supporting movement of a drive element (e.g. cable, cord, wire,chain, etc.) having two opposing ends including a first end coupled tothe first subset of the suspension lines and a second end coupled to thesecond subset of the suspension lines, and an actuator configured torotate the wheel. Example implementation details of a pulley areprovided below with reference to FIGS. 16A to 16C.

Referring now to FIGS. 16A to 16C, shown are schematics of anotherexample actuator system of the controller 600. A pulley and rotaryactuator can operate to shorten line A and lengthen line B (FIG. 16A),provide equal lengths for lines A and B (FIG. 16B), and lengthen line Aand shorten B (FIG. 16C). In the illustrated example, one pair of linesA and B is controlled together using the pulley and rotary actuator,which may be preferred for larger systems. However a four-line systemoffers a full capability to both change direction of glide, and toinitiate and control a spin, and may be used in conjunction with anynumber of existing methods and apparatus to steer a glidingparachute/kite once gliding in a given direction.

In some implementations, the four-line system involves two×two linepairs controlled together. When two lines can be controlled together,then a common pulley or common lever arm works well. In the illustratedexample, shown is a common pulley with a rotary actuator (not shown)that rotates the pulley one way or another. Lines A and B can havemultiple wraps around the common pulley (in opposite directions) toenable greater line length differences during actuation. Although onlyone pair of lines is shown, two of these can be used to have twoindependently controlled line pairs. The first two line pair is used todeform the parachute to control direction of glide and to stop forwardglide. The second two line pair is used to initiate and modulate thespin.

Although the levers shown in FIGS. 15A to 15C and the pulleys shown inFIGS. 16A to 16C have been described to shorten or lengthen a pair oflines in a dependent manner (e.g. line A lengthens when line B shortensby a corresponding amount, and vice-versa), it is noted that otherimplementations are possible in which each line could be independentlycontrolled by separate pulleys or separate levers. For example, in someimplementations, there is provided multiple levers (or pulleys) forshortening or lengthening a first subset of suspension linesindependently from shortening or lengthening a second subset ofsuspension lines, and multiple actuators for the multiple of levers (orpulleys). This can enable refined control whereby deflection andrelaxation of the first and second transverse edges are not necessarilycomplementary.

Although the illustrated examples provided herein generally focus oncontrol provided by a controller, in alternative implementations aperson manually controls the gliding parachute/kite in which case it ispossible that there is no controller present. Implementations thatsupport a combination of manual control by a person and control by acontroller are also possible and are within the scope of the disclosure.

CLAUSES

Some aspects of the disclosure are described by the following clauses:

Clause 31. A gliding parachute/kite, comprising: a wing comprised offlexible material and having four corners including a first pair ofdiagonally opposing corners and a second pair of diagonally opposingcorners; a set of suspension lines adapted for coupling a load to thewing, such that the coupling is configurable in any one of a pluralityof possible states based on relative lengths of the suspension lines;wherein the plurality of possible states comprises a first state inwhich the wing is deformed during flight with more deformation towardsthe first pair of diagonally opposing corners of the wing compared tothe second pair of diagonally opposing corners of the wing, therebycausing the gliding parachute/kite to spin around an axis that issubstantially orthogonal to the wing.Clause 32. The gliding parachute/kite of Clause 31, wherein the glidingparachute/kite is a gliding parachute configured to transport an objectas part of the load.Clause 33. The gliding parachute/kite of Clause 31, wherein the glidingparachute/kite is a gliding kite configured to be tethered to an objectas part of the load.Clause 34. The gliding parachute/kite of any one of Clauses 31 to 33,wherein during flight the wing comprises a concave shape and thedeformation comprises concavity.Clause 35. The gliding parachute/kite of any one of Clauses 31 to 34,wherein the wing has a thickness corresponding to a thickness of theflexible material.Clause 36. The gliding parachute/kite of any one of Clauses 31 to 35,wherein the wing comprises two halves configured such that each half ofthe wing can glide in opposing directions in substantially a same way.Clause 37. The gliding parachute/kite of Clause 36, wherein the wing issubstantially symmetrical such that the first pair of diagonallyopposing corners is substantially equivalent to the second pair ofdiagonally opposing corners.Clause 38. The gliding parachute/kite of any one of Clauses 31 to 37,wherein the wing is configured to provide more lift than drag.Clause 39. The gliding parachute/kite of any one of Clauses 31 to 38,wherein the wing has an aspect ratio of wingspan to mean chord that isgreater than one.Clause 40. The gliding parachute/kite of any one of Clauses 31 to 39,comprising: a controller for controlling the coupling of the load to thewing and for transitioning between the plurality of possible states bymanipulating a length of at least some of the suspension lines.Clause 41. The gliding parachute/kite of Clause 40, wherein: for thefirst state, the controller (i) shortens a first subset of thesuspension lines that is connected to the wing in a vicinity of eachopposing corner of the first pair of diagonally opposing corners and/or(ii) lengthens a second subset of the suspension lines that is connectedto the wing in a vicinity of each opposing corner of the second pair ofdiagonally opposing corners.Clause 42. The gliding parachute/kite of Clause 41, wherein thecontroller comprises: a lever configured to pivot about a point andhaving two opposing ends including a first end coupled to the firstsubset of the suspension lines and a second end coupled to the secondsubset of the suspension lines; and an actuator configured to move thelever.Clause 43. The gliding parachute/kite of Clause 41, wherein thecontroller comprises: a plurality of levers for shortening orlengthening the first subset of the suspension lines independently fromshortening or lengthening the second subset of the suspension lines; anda plurality of actuators for the plurality of levers.Clause 44. The gliding parachute/kite of Clause 41, wherein thecontroller comprises: a pulley having a wheel supporting movement of adrive element having two opposing ends including a first end coupled tothe first subset of the suspension lines and a second end coupled to thesecond subset of the suspension lines; and an actuator configured torotate the wheel.Clause 45. The gliding parachute/kite of Clause 41, wherein thecontroller comprises: a plurality of pulleys for shortening orlengthening the first subset of the suspension lines independently fromshortening or lengthening the second subset of the suspension lines; anda plurality of actuators for the plurality of pulleys.Clause 46. The gliding parachute/kite of Clause 42 or Clause 44, whereinthe controller further comprises: navigation and control sensorsconfigured to produce sensor readings; and a computing device configuredto control each actuator based on the sensor readings.Clause 47. The gliding parachute/kite of any one of Clauses 40 to 46,wherein the plurality of possible states further comprises: a secondstate in which the wing has substantially a same deformation towards thefirst pair of diagonally opposing corners of the wing compared to thesecond pair of diagonally opposing corners of the wing, thereby avoidingthe gliding parachute/kite from spinning.Clause 48. A method of operating a gliding parachute/kite according toany one of Clauses 31 to 47, comprising: gliding along a trajectory;spinning around an axis that is substantially orthogonal to the wingthereby stopping the gliding and changing the trajectory.Clause 49. The method of Clause 48, wherein the gliding parachute/kiteis a gliding parachute and the load comprises an object to be deliveredto a target area on a landing surface, the method comprising:determining that the gliding parachute will overshoot past the targetarea on the landing surface if the gliding parachute/kite were to glidetowards the target area without the spinning; executing the spinningsuch that the overshoot past the target area is avoided; and landing onthe landing surface in the target area.Clause 50. The method of Clause 48, further comprising: halting thespinning thereby resuming the gliding.Clause 51. The method of Clause 48, wherein the spinning is halted toresume the gliding in a purposefully specific direction.Clause 52. The method of any one of Clauses 48 to 51, comprising:modulating the spinning thereby controlling a rate of descent.Clause 53. The method of any one of Clauses 48 to 52, comprising:selecting between spinning in a clockwise direction or acounter-clockwise direction.Clause 54. The method of any one of Clauses 48 to 53, furthercomprising: selecting an initial operating state of the plurality ofpossible states prior to deployment of the gliding parachute/kite.

Numerous modifications and variations of the present disclosure arepossible in light of the above teachings. It is therefore to beunderstood that within the scope of the appended claims, the disclosuremay be practised otherwise than as specifically described herein.

We claim:
 1. A gliding parachute/kite, comprising: a wing comprised offlexible material and having a first transverse edge and a secondtransverse edge; a set of suspension lines adapted for coupling a loadto the wing, such that the coupling is configurable in any one of aplurality of possible states based on relative lengths of the suspensionlines; wherein the plurality of possible states comprises: a first statein which the wing is deformed during flight with more deformationtowards the first transverse edge compared to the second transverseedge, thereby causing the first transverse edge to be a leading edge andthe second transverse edge to be a trailing edge relative to a freestream; and a second state in which the wing is deformed during flightwith more deformation towards the second transverse edge compared to thefirst transverse edge, thereby causing the second transverse edge to bethe leading edge and the first transverse edge to be the trailing edgerelative to the free stream.
 2. The gliding parachute/kite of claim 1,wherein the gliding parachute/kite is a gliding parachute configured totransport an object as part of the load.
 3. The gliding parachute/kiteof claim 1, wherein the gliding parachute/kite is a gliding kiteconfigured to be tethered to an object as part of the load.
 4. Thegliding parachute/kite of claim 1, wherein during flight the wingcomprises a concave shape and the deformation comprises concavity. 5.The gliding parachute/kite of claim 1, wherein the wing has a thicknesscorresponding to a thickness of the flexible material.
 6. The glidingparachute/kite of claim 1, wherein the wing is configured such thatgliding is possible in either longitudinal direction in substantially asame way.
 7. The gliding parachute/kite of claim 6, wherein the wing issubstantially symmetrical such that a first half of the wing having thefirst transverse edge substantially mirrors a second half of the winghaving the second transverse edge.
 8. The gliding parachute/kite ofclaim 1, wherein the wing comprises four corners.
 9. The glidingparachute/kite of claim 1, wherein the wing is configured to providemore lift than drag.
 10. The gliding parachute/kite of claim 1, whereinthe wing has an aspect ratio of wingspan to mean chord that is greaterthan one.
 11. The gliding parachute/kite of claim 1, comprising: acontroller for controlling the coupling of the load to the wing and fortransitioning between the plurality of possible states by manipulating alength of at least some of the suspension lines.
 12. The glidingparachute/kite of claim 11, wherein: for the first state, the controller(i) shortens a first subset of the suspension lines that is connected tothe wing in a vicinity of the first transverse edge and/or (ii)lengthens a second subset of the suspension lines that is connected tothe wing in a vicinity of the second transverse edge.
 13. The glidingparachute/kite of claim 11, wherein: for the second state, thecontroller (i) shortens a second subset of the suspension lines that isconnected to the wing in a vicinity of the second transverse edge and/or(ii) lengthens a first subset of the suspension lines that is connectedto the wing in a vicinity of the first transverse edge.
 14. The glidingparachute/kite of claim 12, wherein the controller comprises: a leverconfigured to pivot about a point and having two opposing ends includinga first end coupled to the first subset of the suspension lines and asecond end coupled to the second subset of the suspension lines; and anactuator configured to move the lever.
 15. The gliding parachute/kite ofclaim 12, wherein the controller comprises: a plurality of levers forshortening or lengthening the first subset of the suspension linesindependently from shortening or lengthening the second subset of thesuspension lines; and a plurality of actuators for the plurality oflevers.
 16. The gliding parachute/kite of claim 12, wherein thecontroller comprises: a pulley having a wheel supporting movement of adrive element having two opposing ends including a first end coupled tothe first subset of the suspension lines and a second end coupled to thesecond subset of the suspension lines; and an actuator configured torotate the wheel.
 17. The gliding parachute/kite of claim 12, whereinthe controller comprises: a plurality of pulleys for shortening orlengthening the first subset of the suspension lines independently fromshortening or lengthening the second subset of the suspension lines; anda plurality of actuators for the plurality of pulleys.
 18. The glidingparachute/kite of claim 14, wherein the controller further comprises:navigation and control sensors configured to produce sensor readings;and a computing device configured to control each actuator based on thesensor readings.
 19. The gliding parachute/kite of claim 11, wherein thewing comprises four corners including a first pair of diagonallyopposing corners and a second pair of diagonally opposing corners, andthe plurality of possible states further comprises: a third state inwhich the wing is deformed during flight with more deformation towardsthe first pair of diagonally opposing corners of the wing compared tothe second pair of diagonally opposing corners of the wing, therebycausing the gliding parachute/kite to spin around an axis that issubstantially orthogonal to the wing.
 20. The gliding parachute/kite ofclaim 19, wherein: for the third state, the controller (i) shortens athird subset of the suspension lines that is connected to the wing invicinity of each opposing corner of the first pair of diagonallyopposing corners and/or (ii) lengthens a fourth subset of the suspensionlines that is connected to the wing in vicinity of each opposing cornerof the second pair of diagonally opposing corners.
 21. The glidingparachute/kite of claim 20, wherein the controller comprises: a leverconfigured to pivot about a point and having two opposing ends includinga first end coupled to the third subset of the suspension lines and asecond end coupled to the fourth subset of the suspension lines; and anactuator configured to move the lever.
 22. The gliding parachute/kite ofclaim 20, wherein the controller comprises: a plurality of levers forshortening or lengthening the third subset of the suspension linesindependently from shortening or lengthening the fourth subset of thesuspension lines; and a plurality of actuators for the plurality oflevers.
 23. The gliding parachute/kite of claim 20, wherein thecontroller comprises: a pulley having a wheel supporting movement of adrive element having two opposing ends including a first end coupled tothe third subset of the suspension lines and a second end coupled to thefourth subset of the suspension lines; and an actuator configured torotate the wheel.
 24. The gliding parachute/kite of claim 20, whereinthe controller comprises: a plurality of pulleys for shortening orlengthening the third subset of the suspension lines independently fromshortening or lengthening the fourth subset of the suspension lines; anda plurality of actuators for the plurality of pulleys.
 25. The glidingparachute/kite of claim 21, wherein the controller further comprises:navigation and control sensors configured to produce sensor readings;and a computing device configured to control each actuator based on thesensor readings.
 26. A method of operating a gliding parachute/kiteaccording to claim 1, comprising: gliding in a first direction; andreversing direction thereby gliding in a second direction opposite tothe first direction without turning around the gliding parachute/kite.27. The method of claim 26, wherein the gliding parachute/kite is agliding parachute and the load comprises an object to be delivered to atarget area on a landing surface, the method comprising: determiningthat the gliding parachute will overshoot past the target area on thelanding surface if the gliding parachute were to glide in the firstdirection towards the target area without the reversing of directionstep; and executing the reversing of direction step such that thegliding parachute lands in the target area on the landing surface. 28.The method of claim 26, wherein the gliding parachute/kite is a glidingparachute and the load comprises an object to be delivered to a targetarea on a landing surface, the method further comprising: determiningthat the gliding parachute will overshoot past the target area on thelanding surface if the gliding parachute were to glide in the firstdirection towards the target area without the reversing of directionstep; after the reversing of direction step, reversing direction againthereby gliding in the first direction without turning around thegliding parachute/kite; executing both of the reversing of directionsteps such that the overshoot past the target area is avoided; andlanding on the landing surface in the target area.
 29. The method ofclaim 26, comprising: executing each reversing of direction step toadjust a rate of descent and/or a touch down time.
 30. The method ofclaim 26, further comprising: selecting an initial operating state ofthe plurality of possible states prior to deployment of the glidingparachute/kite.